version: 66.02
glider: 102
mission: 4
dive: 4
start: 11 14 107 1 6 50
data:
$ID,102
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-76334.5
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,005538,6133.878,-827.739,30,1.0,30,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-65.2
$GPS2,010508,6133.845,-827.668,10,1.2,10,-9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.087,-0.245
$KALMAN_X,-743.6,-337.4,-273.1,3460.7,-41.3
$KALMAN_Y,2826.3,1660.9,1320.8,-4518.9,-162.0
$MHEAD_RNG_PITCHd_Wd,169.4,7501,-17.9,-10.000
$D_GRID,781
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.46,-146.6,0.0,0.0,0,100,0.00,0.00,-82.05,0.000,2,0.000,0.000,37,1890,3390
$GC,102,-1.46,-146.6,4.0,-6.0,4,124,11.55,2.58,-1.83,0.000,4,0.147,0.057,2187,3301,3477
$GC,376,-1.46,-146.6,48.1,-12.8,16,380,0.00,2.53,0.00,0.000,6,0.000,0.043,2187,1907,3477
$GC,703,-1.46,-146.6,85.5,-11.8,32,707,0.00,2.53,0.00,0.000,4,0.000,0.048,2186,3310,3477
$GC,824,-1.46,-146.6,99.7,-11.0,37,831,0.00,2.55,0.00,0.000,6,0.000,0.041,2187,1898,3477
$GC,1139,-1.46,-146.6,137.6,-12.9,53,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1898,3477
$GC,1449,-1.46,-146.6,176.1,-12.3,68,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1898,3477
$GC,1758,-1.46,-146.6,218.2,-13.8,83,1762,0.00,2.53,0.00,0.000,4,0.000,0.047,2187,3306,3477
$GC,1800,-1.46,-146.6,224.2,-13.9,85,1805,0.00,2.55,0.00,0.000,6,0.000,0.044,2187,1900,3477
$GC,2127,-1.46,-146.6,265.7,-12.4,101,2132,0.00,2.60,0.00,0.000,4,0.000,0.067,2187,491,3477
$GC,2148,-1.46,-146.6,268.6,-13.3,102,2153,0.00,2.50,0.00,0.000,6,0.000,0.041,2187,1907,3477
$GC,2474,-1.46,-146.6,310.0,-13.1,118,2479,0.00,2.47,0.00,0.000,4,0.000,0.050,2187,3295,3477
$GC,2540,-1.46,-146.6,318.9,-13.6,121,2545,0.00,2.53,0.00,0.000,6,0.000,0.048,2187,1908,3478
$GC,2867,-1.46,-146.6,359.8,-12.4,137,2871,0.00,2.62,0.00,0.000,4,0.000,0.070,2187,489,3478
$GC,2899,-1.46,-146.6,364.1,-13.6,138,2906,0.00,2.50,0.00,0.000,6,0.000,0.044,2187,1896,3478
$GC,3214,-1.46,-146.6,403.7,-12.5,154,3219,0.00,2.53,0.00,0.000,4,0.000,0.052,2187,3296,3478
$GC,3253,-1.46,-146.6,408.6,-12.0,156,3258,0.00,2.53,0.00,0.000,6,0.000,0.048,2187,1894,3478
$GC,3579,-1.46,-146.6,446.3,-11.5,172,3583,0.00,2.58,0.00,0.000,4,0.000,0.069,2187,490,3478
$GC,3706,-1.46,-146.6,463.9,-13.8,177,3713,0.00,2.47,0.00,0.000,6,0.000,0.044,2187,1893,3478
$GC,4022,-1.46,-146.6,504.2,-10.9,193,4026,0.00,2.53,0.00,0.000,4,0.000,0.052,2187,3295,3478
$GC,4278,-1.46,-146.6,532.6,-12.0,204,4285,0.00,2.55,0.00,0.000,6,0.000,0.052,2187,1906,3478
$GC,4594,-1.46,-146.6,564.4,-10.0,220,4598,0.00,2.65,0.00,0.000,4,0.000,0.077,2187,489,3478
$GC,4664,-1.46,-146.6,571.8,-10.8,223,4669,0.00,2.53,0.00,0.000,6,0.000,0.050,2187,1897,3478
$GC,4985,-1.46,-146.6,602.8,-11.0,239,4990,0.00,2.65,0.00,0.000,4,0.000,0.077,2187,492,3478
$GC,5175,-1.46,-146.6,623.8,-9.7,247,5182,0.00,2.50,0.00,0.000,6,0.000,0.053,2187,1904,3478
$GC,5490,-1.46,-146.6,656.7,-8.1,263,5495,0.00,2.67,0.00,0.000,4,0.000,0.081,2187,495,3477
$GC,5556,-1.46,-146.6,662.2,-7.6,266,5561,0.00,2.53,0.00,0.000,6,0.000,0.056,2187,1892,3477
$GC,5882,-1.46,-146.6,692.8,-10.4,282,5887,0.00,2.60,0.00,0.000,4,0.000,0.068,2187,3295,3476
$GC,5988,-1.46,-146.6,704.8,-10.9,287,5993,0.00,2.55,0.00,0.000,6,0.000,0.061,2186,1904,3476
$GC,6314,-1.46,-146.6,745.3,-10.6,303,6318,0.00,2.60,0.00,0.000,4,0.000,0.071,2187,3295,3475
$GC,6346,-1.46,-146.6,748.2,-9.1,304,6351,0.00,2.60,0.00,0.000,6,0.000,0.063,2187,1901,3475
$GC,6667,-1.46,-146.6,779.1,-13.5,320,6671,0.00,2.62,0.00,0.000,4,0.000,0.071,2187,3299,3472
$STATE,6687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6687,begin apogee
$GC,6693,-0.36,0.0,781.6,11.4,321,6820,1.15,0.00,123.57,1.405,6,0.092,0.000,2429,2099,2878
$STATE,6821,end apogee,CONTROL_FINISHED_OK
$STATE,6821,begin climb
$GC,6822,1.46,146.6,791.6,0.0,327,6953,1.80,2.75,121.85,1.364,4,0.056,0.074,2826,3494,2281
$GC,7024,1.46,146.6,787.5,10.4,336,7032,0.00,2.65,0.00,0.000,6,0.000,0.063,2826,2104,2280
$GC,7340,1.53,201.7,754.6,7.4,352,7394,0.00,2.75,46.55,1.376,4,0.000,0.067,2826,3499,2055
$GC,7649,1.53,201.7,725.5,10.6,366,7653,0.00,2.65,0.00,0.000,6,0.000,0.063,2826,2089,2054
$GC,7973,1.53,201.7,686.7,12.7,382,7978,0.00,2.62,0.00,0.000,4,0.000,0.064,2826,3497,2053
$GC,8000,1.53,201.7,681.9,18.7,383,8005,0.00,2.62,0.00,0.000,6,0.000,0.061,2826,2102,2053
$GC,8321,1.69,333.2,650.8,3.8,399,8437,0.22,2.83,107.57,1.343,4,0.057,0.084,2887,687,1519
$GC,8690,1.69,333.2,581.8,18.0,416,8694,0.00,2.55,0.00,0.000,6,0.000,0.051,2887,2095,1518
$GC,9014,1.69,333.2,524.0,16.7,432,9019,0.00,2.70,0.00,0.000,4,0.000,0.078,2887,684,1517
$GC,9035,1.69,333.2,520.1,17.8,433,9040,0.00,2.58,0.00,0.000,6,0.000,0.049,2887,2101,1517
$GC,9361,1.69,333.2,463.7,16.5,449,9366,0.00,2.58,0.00,0.000,4,0.000,0.054,2887,3509,1517
$GC,9382,1.69,333.2,460.0,17.3,450,9387,0.00,2.60,0.00,0.000,6,0.000,0.051,2887,2103,1517
$GC,9709,1.69,333.2,408.5,15.5,466,9714,0.00,2.55,0.00,0.000,4,0.000,0.050,2887,3511,1517
$GC,9735,1.69,333.2,403.8,17.4,467,9740,0.00,2.58,0.00,0.000,6,0.000,0.047,2887,2100,1517
$GC,10056,1.69,333.2,349.4,17.4,483,10061,0.00,2.55,0.00,0.000,4,0.000,0.048,2887,3512,1518
$GC,10095,1.69,333.2,342.4,18.3,485,10100,0.00,2.53,0.00,0.000,6,0.000,0.044,2887,2098,1518
$GC,10421,1.69,333.2,287.0,17.1,501,10425,0.00,2.55,0.00,0.000,4,0.000,0.046,2887,3512,1519
$GC,10537,1.69,333.2,266.6,17.3,506,10541,0.00,2.55,0.00,0.000,6,0.000,0.043,2887,2095,1519
$GC,10857,1.69,333.2,213.0,16.3,522,10862,0.00,2.53,0.00,0.000,4,0.000,0.046,2887,3505,1521
$GC,10996,1.69,333.2,190.1,17.1,528,11001,0.00,2.53,0.00,0.000,6,0.000,0.043,2887,2101,1521
$GC,11318,1.69,333.2,137.7,16.6,544,11322,0.00,2.53,0.00,0.000,4,0.000,0.045,2887,3509,1522
$GC,11433,1.69,333.2,118.2,16.3,549,11438,0.00,2.53,0.00,0.000,6,0.000,0.041,2887,2102,1522
$GC,11756,1.69,333.2,64.3,17.1,565,11760,0.00,2.53,0.00,0.000,4,0.000,0.044,2887,3513,1523
$GC,11843,1.69,333.2,49.3,16.0,569,11848,0.00,2.55,0.00,0.000,6,0.000,0.039,2887,2095,1523
$STATE,12128,end climb,SURFACE_DEPTH_REACHED
$STATE,12128,begin surface coast
$FINISH,-0.7,1.027276
$STATE,12150,end surface coast,CONTROL_FINISHED_OK
$STATE,12150,begin surface
$SM_CCo,12229,0.00,0.000,0,0,1523,332.38
$SM_GC,0.14,12.35,0.00,0.00,0.035,0.000,0.000,31,1897,1523,-11.33,-0.08,332.38
$IRIDIUM_FIX,6108.28,-822.48,141107,040413
$TT8_MAMPS,0.026845
$HUMID,2143
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.4,102.4
$24V_AH,23.3,12.806
$10V_AH,10.1,5.320
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.075,139.100,399.550,0.000,0.000,78.317,163.274,189.211,6.000,0.000,0.000,11.911,1169.873,8990.688,520.449,1627.627,546.958,32.339,1359.312,0.000,1585.595,0.000,41.178
$DEVICE_MAMPS,147.264,84.370,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.366,392.813,339.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28536,584
$CFSIZE,260165632,257658880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,141107,043158,6134.081,-826.826,27,2.7,46,-8.9